Sie sind auf Seite 1von 23

PRESENTED BY

ARUN.G 1DA09EC014

ECE,Dr.AIT 2013

A robot is a mechanical or virtual, artificial agent. It is usually an Electro mechanical system, which, by its appearance or movements, conveys a sense that it has intent or agency of its own.

ECE,Dr.AIT 2013

It has been artificially created.

Has some degree of intelligence or ability to make choices based on the environment .
Is programmable. Can move with one or more axes of rotation or translation. Can make dexterous coordinated movements.

ECE,Dr.AIT 2013

Recovery from error, failure or damage is a major concern in robotics.

The need for automated error recovery is even more acute in the field of remote robotics, where human operators cannot manually repair or provide compensation for damage or failure.

ECE,Dr.AIT 2013

The four legged robot automatically synthesizes a predictive model of its own topology through limited yet selfdirected interaction with its environment, and then uses this model to synthesize successful new locomotive behavior before and after damage. These findings may help develop more robust robotics, as well as shed light on the relation between curiosity and cognition in animals and humans

Fig. Four Legged Robot


ECE,Dr.AIT 2013 5

Self healing robots are the ones which can adapt to minor injuries and continue its job.
A robot is able to indirectly infer its own morphology through self directed exploration and then use the resulting self models to synthesize new behavior. If the robot s topology unexpectedly changes the same process restructures its internal self models.

ECE,Dr.AIT 2013

Based on geometric arrangement of units Lattice architecture Chain architecture Hybrid architecture Based on reconfiguration of units Deterministic Stochastic Based on design of modules Homogeneous Heterogeneous

ECE,Dr.AIT 2013

ECE,Dr.AIT 2013

The target system is a quadrupedal, articulated robot It consists of rectangular body and four legs attached to it with a hinge joint Each leg has a upper and lower leg attached together with a hinge joint All 8 hinge joints are actuated with high torque servomotors Robots can automatically synthesize predictive models of its own topology Equipped sensors with suite of different

ECE,Dr.AIT 2013

The overall dimensions of a robot


Parameter Width and length of the body Height of the body Length of the upper leg Height of the upper leg Length of the lower leg Diameter of the foot Value(mm) 140 85 95 26 125 12

ECE,Dr.AIT 2013

10

Robots depend on internal maps (either provided or learned), and sensory data to orient themselves with respect to that map and to update their location. If the environment is changing or noisy, the robot has to navigate under uncertainty, and constantly update the probabilities that a particular action will achieve a particular result. The situation becomes even worse if the robots own shape and configuration can change, that is, if its internal model becomes inaccurate

ECE,Dr.AIT 2013

11

If the robots topology unexpectedly changes, the same process restructures its internal self-models, leading to the generation of qualitatively different, compensatory behavior. In essence , the process enables the robot to continuously diagnose and recover from damage.

Our approach is based on the concept of multiple competing internal models and generation of actions .
The process is composed of three algorithmic components that are executed continuously by the physical robot while moving or at rest.

ECE,Dr.AIT 2013

12

Self

Model Synthesis Synthesis

Exploratory Action Target

Behavior Synthesis
13

ECE,Dr.AIT 2013

ECE,Dr.AIT 2013

14

Estimation Exploration Algorithm is used Two evolutionary algorithms are used Estimation evolutionary algorithm Exploration evolutionary algorithm It has two functions Damage hypothesis evolution(estimation phase) Controller evolution(exploration phase) The algorithm also maintains a database, which stores pairs of data.

ECE,Dr.AIT 2013

15

Exploration Phase (controller evolution) Physical Robot Failure

Estimation Phase(damage hypothesis evolution)

ECE,Dr.AIT 2013

16

ECE,Dr.AIT 2013

17

EXPERIMENTAL SETUP
The Robots

Two hypothetical robots tested here are: 1. Quadrupedal robot 2. Hexapedal robot The figure shows simulated robots used for experimentation.

ECE,Dr.AIT 2013

18

The Controllers
Robots are controlled by neural network. There are 3 layers in the neural network input, hidden and output layer.

ECE,Dr.AIT 2013

19

ECE,Dr.AIT 2013

20

In general, they can perform tasks faster, more accurately and with a lot less risk to human life. Recover from minor injuries

Accurate reproduction of repetitive actions.


Performs the task that may be hazardous to humans.

Low maintenance cost

ECE,Dr.AIT 2013

21

Space exploration

Construction of large architectural systems.


Used in industries . Ex CIRCA

In unstructured environments.
PC based control platform enable easy automation system.

ECE,Dr.AIT 2013

22

ECE,Dr.AIT 2013

23